public virtual void Start()
{
ReplayTimer.Start();
}
private void AsyncThread_DoWork(object sender)
{
ReplayTimer Time = new ReplayTimer();
float statusPrevTime = 0;
float rangePrevTime = 0;
RangeDeviceEventArgs rPrev = null;
StatusEventArgs sPrev = null;
Time.Reset();
Time.Start();
StatusDataReceived?.Invoke(new object(), StartingStatusEventArgs);
foreach (RangeDeviceEventArgs e in StartingRangeDeviceCurrentReadings)
{
RangeDeviceCurrentDataReceived?.Invoke(new object(), e);
}
while (IsRunning)
{
if (IsPaused)
{
Time.Stop();
Thread.Sleep(UpdateRate);
continue;
}
Time.Start();
Time.Tick();
foreach (RangeDeviceEventArgs r in ReplayLaserEntries)
{
if (r.Timestamp >= Time.TotalTime)
{
if (r.Timestamp == rangePrevTime)
{
break;
}
rangePrevTime = r.Timestamp;
if (rPrev == null)
{
rPrev = r;
}
RangeDeviceCurrentDataReceived?.Invoke(new object(), rPrev);
rPrev = r;
break;
}
}
foreach (StatusEventArgs r in ReplayStatusEntries)
{
if (r.Timestamp >= Time.TotalTime)
{
if (r.Timestamp == statusPrevTime)
{
break;
}
statusPrevTime = r.Timestamp;
if (sPrev == null)
{
sPrev = r;
}
StatusDataReceived?.Invoke(new object(), sPrev);
sPrev = r;
break;
}
}
Thread.Sleep(UpdateRate);
//Robot.Write("onelinestatus");
//foreach (string l in Devices)
//{
// Robot.Write("rangeDeviceGetCurrent " + l);
//}
//foreach (string l in Devices)
//{
// Robot.Write("rangeDeviceGetCumulative " + l);
//}
}
}